JP6575543B2 - Automatic driving device and automatic driving method - Google Patents

Description

  The present invention relates to an automatic driving device and an automatic driving method.

  For example, Patent Document 1 discloses an automatic driving device that performs automatic driving control for automatically driving a vehicle. This automatic driving device searches for a route avoiding an automatic driving interruption section in which execution of automatic driving control may be interrupted, and automatically drives the vehicle to a destination.

JP2015-175825A

  In the automatic driving device described in Patent Document 1, for example, when there is an automatic driving interruption section in the vicinity of the destination, it may not be possible to search for another route that can execute the automatic driving control. In this case, when the automatic driving interruption section is reached, the driving state of the vehicle may be switched from the automatic driving state to the manual driving state, and the vehicle occupant may feel bothered by the switching of the driving state. Therefore, in this technical field, it is desired to reduce the feeling of annoying an occupant when the driving state of the vehicle is switched from the automatic driving state to the manual driving state.

  One aspect of the present invention is an automatic driving device that performs automatic driving control for automatically driving a vehicle, and acquires a route for driving the vehicle by automatic driving control to a preset destination. A vehicle position determination unit that determines whether or not the vehicle position is within a destination peripheral area including the destination, and if the vehicle position is within the destination peripheral area, the vehicle position to the destination On the route, there is an interruption section estimation unit that estimates the presence or absence of an automatic driving interruption section that may interrupt the execution of automatic driving control and the position of the automatic driving interruption section, and the position of the vehicle is within the area around the destination And an intention confirming unit for confirming whether or not the vehicle occupant intends to get off when the vehicle is estimated to have an automatic driving interruption section between the current position of the vehicle and the destination. Confirm that there is If it is confirmed that there is an intention to get off during the execution of the automatic driving control and the reward providing unit that provides the reward for getting off, and automatic driving control, before reaching the automatic driving interruption section And a travel control unit for stopping the vehicle.

  In this automatic driving device, when there is an automatic driving interruption section between the current position of the vehicle and the destination, the vehicle occupant confirms whether or not he / she intends to get off. When the occupant intends to get off, the automatic driving device stops the vehicle before reaching the automatic driving interruption section. Thereby, when there is an automatic driving interruption section and the occupant intends to get off, the driving state of the vehicle is not switched from the automatic driving state to the manual driving state. Therefore, the automatic driving device can reduce that the passenger feels annoyed when the driving state of the vehicle is switched from the automatic driving state to the manual driving state. In addition, the automatic driving device provides a reward for getting off when the occupant has an intention to get off. Thereby, the automatic driving device can provide motivation for the passenger to get off by providing a reward.

  The area around the destination may be an area where the arrival time to the destination when the vehicle is driven by the automatic driving control is within a predetermined arrival time. For example, even if the straight line distance to the destination is short, it may take a long time to reach the destination. Even in such a case, since the destination peripheral area is set based on the arrival time to the destination, the automatic driving device can detect the position of the vehicle based on the appropriately set destination peripheral area. It can be determined whether or not is in the area around the destination.

  The automatic driving device further includes a traffic information acquisition unit that acquires traffic information on the route to the destination acquired by the route acquisition unit, and the interruption interval estimation unit is based on the acquired traffic information. Presence / absence of and the position of the automatic driving interruption section may be estimated. In this case, the automatic driving device can appropriately estimate the presence and position of the automatic driving interruption section based on the acquired traffic information.

  The automatic driving device further includes an operation unit that is operated by the occupant, and the intention confirmation unit performs notification for confirming the intention to get off, and confirms whether or not there is an intention to get off based on the operation of the operation unit by the occupant. Good. In this case, the vehicle occupant can input the intention to get off to the automatic driving device through the operation unit.

  The automatic driving device further includes a terminal position acquisition unit that acquires position information of the portable terminal carried by the occupant, and the reward providing unit, when providing a reward for getting off, based on the acquired position information of the portable terminal, A determination may be made as to whether or not the passenger who got off stayed at the destination for a predetermined stay time or more, and a reward may be provided when the passenger stays at the destination for a predetermined stay time or more. In this case, the automatic driving device can appropriately provide a reward based on whether or not the passenger who got off stayed at the destination.

  Another aspect of the present invention is an automatic driving method that is executed by an automatic driving device that executes automatic driving control for automatically driving a vehicle, wherein the vehicle is driven by automatic driving control to a preset destination. A route acquisition step for acquiring a time route, a vehicle position determination step for determining whether or not the position of the vehicle is within a destination peripheral area including the destination, and a case where the vehicle position is within the destination peripheral area An interruption section estimation step for estimating the presence or absence of an automatic driving interruption section where the execution of the automatic driving control may be interrupted and the position of the automatic driving interruption section on the route from the position of the vehicle to the destination; If it is determined that the position is within the area around the destination, and it is estimated that there is an automatic driving interruption section between the current position of the vehicle and the destination, the vehicle occupant is willing to get off the vehicle. An intention confirmation step for confirming, a reward providing step for providing a reward for getting off when it is confirmed that there is an intention to get off, and an automatic driving if it is confirmed that there is an intention to get off during execution of automatic driving control And a travel control step for stopping the vehicle before reaching the interruption section.

  In this automatic driving method, when there is an automatic driving interruption section between the current position of the vehicle and the destination, the vehicle occupant is confirmed whether there is an intention to get off. When the occupant intends to get off the vehicle, the automatic driving method stops the vehicle before reaching the automatic driving interruption section. Thereby, when there is an automatic driving interruption section and the occupant intends to get off, the driving state of the vehicle is not switched from the automatic driving state to the manual driving state. Therefore, in this automatic driving method, it can be reduced that the passenger feels troublesome when the driving state of the vehicle is switched from the automatic driving state to the manual driving state. Moreover, in this automatic driving method, when the occupant has an intention to get off, a reward for getting off is provided. Thereby, in this automatic driving method, it is possible to provide motivation for the passenger to get off by providing a reward.

  In the automatic driving method, the destination peripheral area may be an area where the arrival time to the destination when the vehicle is driven by the automatic driving control is within a predetermined arrival time. For example, even if the straight line distance to the destination is short, it may take a long time to reach the destination. Even in such a case, since the area around the destination is set based on the arrival time to the destination, in this automatic driving method, the vehicle is driven based on the appropriately set area around the destination. It can be determined whether or not the position is within the area around the destination.

  The automatic driving method further includes a traffic information acquisition step for acquiring traffic information on the route to the destination acquired in the route acquisition step, and in the interruption interval estimation step, the automatic driving interruption interval based on the acquired traffic information. Presence / absence of and the position of the automatic driving interruption section may be estimated. In this case, in the automatic driving method, it is possible to appropriately estimate the presence and position of the automatic driving interruption section based on the acquired traffic information.

  In the automatic driving method, the automatic driving device has an operation unit operated by the occupant, and in the intention confirmation step, a notification for confirming the intention to get off is given, and the presence of the intention to get off is confirmed based on the operation of the operation unit by the occupant May be. In this case, the vehicle occupant can input the intention to get off to the automatic driving device through the operation unit.

  The automatic driving method further includes a terminal position acquisition step of acquiring position information of the mobile terminal carried by the occupant, and in the reward providing step, when providing a reward for getting off, based on the acquired position information of the mobile terminal, A determination may be made as to whether or not the passenger who got off stayed at the destination for a predetermined stay time or more, and a reward may be provided when the passenger stays at the destination for a predetermined stay time or more. In this case, in the automatic driving method, it is possible to appropriately provide a reward based on whether or not the passenger who gets off stays at the destination.

  According to various aspects of the present invention, it is possible to reduce the feeling of annoying an occupant when the driving state of a vehicle is switched from an automatic driving state to a manual driving state.

It is a figure showing the schematic structure of the automatic operation device concerning an embodiment. It is a flowchart which shows the flow of the process which provides the reward with respect to alighting, when not suggesting an alternative destination. It is a flowchart which shows the flow of the process which provides the reward with respect to alighting in the case of proposing an alternative destination.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted.

  As shown in FIG. 1, the automatic driving apparatus 100 of the present embodiment is mounted on a vehicle V such as a passenger car, and executes automatic driving control for automatically driving the vehicle V according to a travel plan generated in advance. The automatic driving state in which the automatic driving control is being executed is a state in which control including speed control and steering control of the vehicle V is being executed by the automatic driving device 100.

  As shown in FIG. 1, the automatic driving device 100 includes an ECU 10 for executing automatic driving control. The ECU 10 is an electronic control unit having a CPU [Central Processing Unit], a ROM [Read Only Memory], a RAM [Random Access Memory], a CAN [Controller Area Network] communication circuit, and the like. In the ECU 10, various functions are realized by loading a program stored in the ROM into the RAM and executing the program loaded in the RAM by the CPU. The ECU 10 may be composed of a plurality of electronic control units. Connected to the ECU 10 are an external sensor 1, a GPS receiver 2, an internal sensor 3, a map database 4, a first communication unit 5, a second communication unit 6, a navigation system 7, an actuator 8, and an HMI [Human Machine Interface] 9. Has been.

  The external sensor 1 is a detection device that detects a situation around the vehicle V. The external sensor 1 includes at least one of a camera and a radar sensor. The camera is an imaging device that captures an external situation of the vehicle V. The camera is provided on the back side of the windshield of the vehicle V. The camera transmits imaging information related to the external situation of the vehicle V to the ECU 10. The camera may be a monocular camera or a stereo camera. The stereo camera has two imaging units arranged so as to reproduce binocular parallax. The imaging information of the stereo camera includes information in the depth direction.

  The radar sensor is a detection device that detects an obstacle around the vehicle V using radio waves (for example, millimeter waves) or light. The radar sensor includes, for example, a millimeter wave radar or a lidar [LIDAR: Light Detection and Ranging]. The radar sensor detects an obstacle by transmitting a radio wave or light to the periphery of the vehicle V and receiving the radio wave or light reflected by the obstacle. The radar sensor transmits the detected obstacle information to the ECU 10. Obstacles include fixed obstacles such as guardrails and buildings, as well as moving obstacles such as pedestrians, bicycles, and other vehicles.

  The GPS receiver 2 is mounted on the vehicle V and functions as a position measuring unit that measures the position of the vehicle V. The GPS receiving unit 2 measures the position of the vehicle V (for example, the latitude and longitude of the vehicle V) by receiving signals from three or more GPS satellites. The GPS receiver 2 transmits information on the measured position of the vehicle V to the ECU 10.

  The internal sensor 3 is a detection device that detects the traveling state of the vehicle V. The internal sensor 3 includes at least one of a vehicle speed sensor, an acceleration sensor, and a yaw rate sensor. The vehicle speed sensor is a detector that detects the speed of the vehicle V. As the vehicle speed sensor, a wheel speed sensor that is provided for a wheel of the vehicle V or a drive shaft that rotates integrally with the wheel and detects the rotational speed of the wheel is used. The vehicle speed sensor transmits the detected vehicle speed information to the ECU 10.

  The acceleration sensor is a detector that detects the acceleration of the vehicle V. The acceleration sensor includes a longitudinal acceleration sensor that detects acceleration in the longitudinal direction of the vehicle V and a lateral acceleration sensor that detects lateral acceleration of the vehicle V. The acceleration sensor transmits acceleration information of the vehicle V to the ECU 10. The yaw rate sensor is a detector that detects the yaw rate (rotational angular velocity) around the vertical axis of the center of gravity of the vehicle V. As the yaw rate sensor, for example, a gyro sensor can be used. The yaw rate sensor transmits the detected yaw rate information of the vehicle V to the ECU 10.

  The map database 4 is a database that stores map information. The map database 4 is formed in an HDD [Hard Disk Drive] mounted on the vehicle V. The map information includes, for example, road position information, road shape information, intersection and branch point position information, and road speed limit. The road shape information includes, for example, a curve, a straight line type, a curve curvature, a road slope (uphill, downhill), and the like. The map database 4 may be stored in a server that can communicate with the vehicle V.

  The first communication unit 5 has a function of performing wireless communication with an external server or the like that can distribute traffic information. The traffic information includes information on factors that hinder the traveling of the vehicle V traveling under automatic driving control. In the present embodiment, as an example, the traffic information includes information such as the location where the traffic jam occurs and the degree of traffic jam (degree of congestion).

  The 2nd communication part 6 has a function which performs radio | wireless communication with the external server etc. which can deliver the positional information on the portable terminal which the passenger | crew of the vehicle V carries. For example, when the mobile terminal is a mobile phone, the external server or the like that can distribute the location information of the mobile terminal may be a server owned by a provider that provides mobile phone communication services. In this case, for example, a server owned by a business provider that provides a communication service may monitor the position of the mobile phone. Or the 2nd communication part 6 may have a function which performs wireless communication with the portable terminal which the passenger | crew of the vehicle V carries, and acquires the positional information on a portable terminal directly. In this case, for example, the portable terminal carried by the occupant may measure the position with a GPS receiver mounted on the portable terminal and distribute the position information to the second communication unit 6.

  The navigation system 7 is mounted on the vehicle V and sets a target route for the vehicle V to travel by automatic driving. The navigation system 7 determines a target route from the position of the vehicle V to the destination based on the preset destination, the position of the vehicle V measured by the GPS receiver 2, and the map information in the map database 4. Calculate. The destination set in advance is set by operating an input button (or touch panel) provided on the navigation system 7 by an occupant of the vehicle V. The target route is set by distinguishing the lanes that make up the road. The navigation system 7 can set the target route by a known method. The navigation system 7 notifies the driver of the target route by display on the display and sound output from the speaker. The navigation system 7 outputs information on the target route of the vehicle V to the ECU 10.

  The actuator 8 is a device that executes traveling control of the vehicle V. The actuator 8 includes at least a throttle actuator, a brake actuator, and a steering actuator. The throttle actuator controls the driving force of the vehicle V by controlling the amount of air supplied to the engine (throttle opening) according to a control signal from the ECU 10. In the case where the vehicle V is a hybrid vehicle, in addition to the amount of air supplied to the engine, a control signal from the ECU 10 is input to a motor as a power source to control the driving force. When the vehicle V is an electric vehicle, a control signal from the ECU 10 is input to a motor as a power source to control the driving force. The motor as the power source in these cases constitutes the actuator 8.

  The brake actuator controls the brake system according to a control signal from the ECU 10 and controls the braking force applied to the wheels of the vehicle V. A hydraulic brake system can be used as the brake system. The steering actuator controls driving of an assist motor that controls steering torque in the electric power steering system in accordance with a control signal from the ECU 10. Thereby, the steering actuator controls the steering torque of the vehicle V.

  The HMI 9 is an interface for outputting and inputting information between the driver and the automatic driving device 100. The HMI 9 includes, for example, a display that displays image information to a passenger of the vehicle V, a speaker that outputs sound, and an operation unit such as an input button or a touch panel operated by the passenger so that the passenger performs an input operation, a voice input device, and the like. I have. The HMI 9 transmits information input by the occupant to the ECU 10. Further, the HMI 9 displays image information on a display and outputs sound from a speaker in accordance with a control signal from the ECU 10.

  Next, a functional configuration of the ECU 10 will be described. The ECU 10 includes a vehicle position recognition unit 11, an external situation recognition unit 12, a travel state recognition unit 13, a travel plan generation unit 14, a route acquisition unit 15, a vehicle position determination unit 16, a traffic information acquisition unit 17, an interrupted section estimation unit 18, It has an alternative destination proposal unit 19, an intention confirmation unit 20, a terminal position acquisition unit 21, a reward provision unit 22, and a travel control unit 23. A part of the function of the ECU 10 may be executed by a server that can communicate with the vehicle V.

  The vehicle position recognition unit 11 recognizes the position of the vehicle V on the map based on the position information of the GPS reception unit 2 and the map information of the map database 4. The vehicle position recognition unit 11 recognizes the position of the vehicle V by the existing SLAM technology using the position information of the fixed obstacle such as a power pole and the detection result of the external sensor 1 included in the map information of the map database 4. May be.

  The external situation recognition unit 12 recognizes the external situation of the vehicle V based on the detection result of the external sensor 1. The external situation recognition unit 12 recognizes the external situation of the vehicle V including the positions of obstacles around the vehicle V by a known method based on the captured image of the camera and / or the obstacle information of the radar sensor.

  The traveling state recognition unit 13 recognizes the traveling state of the vehicle V including the vehicle speed and direction of the vehicle V based on the detection result of the internal sensor 3. Specifically, the traveling state recognition unit 13 recognizes the vehicle speed of the vehicle V based on the vehicle speed information of the vehicle speed sensor. The traveling state recognition unit 13 recognizes the direction of the vehicle V based on the yaw rate information of the yaw rate sensor.

  The travel plan generation unit 14 includes the target route set by the navigation system 7, the map information in the map database 4, the external situation of the vehicle V recognized by the external situation recognition unit 12, and the vehicle recognized by the travel state recognition unit 13. A travel plan for the vehicle V is generated based on the travel state of V. This travel plan is a travel plan for going from the current position of the vehicle V to a preset destination.

  The travel plan includes a control target value of the vehicle V corresponding to the position of the vehicle V on the target route. The position on the target route is a position in the extending direction of the target route on the map. The position on the target route means a set vertical position set every predetermined interval (for example, 1 m) in the extending direction of the target route. The control target value is a value that becomes a control target of the vehicle V in the travel plan. The control target value is set in association with each set vertical position on the target route. The travel plan generation unit 14 sets a set vertical position at a predetermined interval on the target route, and generates a travel plan by setting a control target value (for example, a target horizontal position and a target vehicle speed) for each set vertical position. . The set vertical position and the target horizontal position may be set together as one position coordinate. The set vertical position and target horizontal position mean vertical position information and horizontal position information set as targets in the travel plan.

  In addition, when the intention confirmation unit 20 determines that the change of the destination to the alternative destination has been accepted by the occupant, the travel plan generation unit 14 replaces the travel plan up to the preset destination with a substitute. A travel plan to the destination is generated. In this case, the navigation system 7 sets a target route from the position of the vehicle V to the alternative destination when the intention confirmation unit 20 determines that the change of the destination to the alternative destination is accepted by the occupant. To do. The travel plan generation unit 14 generates a travel plan for heading to the alternative destination based on the target route to the alternative destination set by the navigation system 7 as described above.

  The route acquisition unit 15 acquires a route when the vehicle V travels by automatic driving control to a preset destination. Specifically, the route acquisition unit 15 acquires the target route to the destination set by the navigation system 7 as a route for driving the vehicle V to the preset destination by automatic driving control.

  The vehicle position determination unit 16 specifies a destination peripheral area including a preset destination. The vehicle position determination unit 16 determines whether or not the position of the vehicle V is within the destination peripheral area based on the position of the vehicle V recognized by the vehicle position recognition unit 11. More specifically, the vehicle position determination unit 16 determines that the arrival time to the destination is within a predetermined arrival time when the vehicle V is driven by automatic driving control along the target route acquired by the route acquisition unit 15. Is specified as the area around the destination. Here, the arrival time to the destination set in advance can be calculated by a well-known method such as considering the speed limit of the road. Note that the destination peripheral area is not limited to be specified based on the arrival time to the destination, and may be an area defined by various criteria such as an area within a predetermined distance from the destination. Good.

  The traffic information acquisition unit 17 acquires traffic information on the target route acquired by the route acquisition unit 15. The traffic information acquisition unit 17 acquires traffic information using the first communication unit 5.

  When it is determined that the position of the vehicle V is within the area around the destination, the interruption section estimation unit 18 can interrupt the execution of the automatic driving control on the target route from the position of the vehicle V to the destination. The presence or absence of an automatic driving interruption section and the position of the automatic driving interruption section are estimated. The destination peripheral area here is an area specified by the vehicle position determination unit 16. The automatic driving interruption section is a section in which it is difficult to continue the automatic driving control and the automatic driving control may be interrupted.

  Specifically, the interruption section estimation unit 18 estimates the presence / absence of the automatic driving interruption section and the position of the automatic driving interruption section based on the traffic information acquired by the traffic information acquisition unit 17. Here, when a traffic jam occurs, for example, the inter-vehicle distance between the preceding vehicle and the vehicle V becomes narrow, and the imaging range of the camera is blocked by the preceding vehicle, so that it is not possible to image far. In this case, the external situation recognizing unit 12 may recognize only the situation of the area in the vicinity of the vehicle V even when trying to recognize the external situation using the captured image of the camera or the like. For this reason, the automatic driving device 100 may interrupt the automatic driving control because it is difficult to continue the automatic driving control because the recognition of the external situation is insufficient. Therefore, in the present embodiment, the interruption section estimation unit 18 estimates a place where the traffic jam included in the traffic information is generated as an automatic driving interruption section. The interruption section estimation unit 18 may estimate a place where the degree of congestion included in the traffic information is a predetermined value or more as an automatic driving interruption section.

  The alternative destination proposing unit 19 proposes an alternative destination that is different from the preset destination when there is a traffic jam in the vicinity of the preset destination. Specifically, the alternative destination proposal unit 19 determines an alternative destination in the vicinity of a preset destination when there is an automatic driving interruption section on the target route to the destination in the destination peripheral area. The alternative destination is a destination that can be reached without passing through the estimated automatic driving interruption section. For example, the alternative destination proposing unit 19 may determine a point in front of the automatic driving interruption section as an alternative destination on a target route for heading to a preset destination. The alternative destination proposing unit 19 may determine a point deviating from a target route for heading to a preset destination as an alternative destination. The alternative destination proposing unit 19 may determine a point within a predetermined distance from a preset destination as an alternative destination. The alternative destination proposal unit 19 may determine a place where the vehicle V can stop as an alternative destination. The alternative destination proposal unit 19 can determine an alternative destination by a known method based on the map information stored in the map database 4. The alternative destination proposing unit 19 proposes the determined alternative destination to the occupant of the vehicle V through the HMI 9 by display or voice.

  The intention confirming unit 20 determines that the position of the vehicle V is within the area around the destination by the vehicle position determining unit 16, and performs automatic driving between the current position of the vehicle V and the destination by the interruption section estimating unit 18. When it is estimated that there is an interrupted section, the presence or absence of the vehicle V passenger's intention to get off is confirmed. The intention here is an intention of whether or not to get off the vehicle V before the vehicle V reaches the automatic driving interruption section by the automatic driving control. That is, the intention confirming unit 20 confirms the intention to get off whether or not to get off at a place other than a preset destination.

  In order to confirm the presence / absence of the occupant's intention to get off, first, the intention confirmation unit 20 performs notification for confirming the intention to get off by display or voice through the HMI 9. After the notification, the intention confirmation unit 20 confirms whether or not there is an intention to get off based on the operation of the input button of the HMI 9 by the occupant. For example, the intention confirmation unit 20 can determine that there is an intention to get off when an input button or the like of the HMI 9 is operated by a passenger.

  In addition, when the alternative destination proposing unit 19 proposes an alternative destination, the intention confirming unit 20 accepts whether the passenger of the vehicle V accepts the change of the destination from the predetermined destination to the alternative destination. Confirm that. Specifically, the intention confirmation unit 20 confirms whether or not the occupant has accepted that the destination is changed from the predetermined destination to the alternative destination based on the operation of the input button or the like of the HMI 9 by the occupant. I do. For example, the intention confirming unit 20 can determine that the change of the destination to the alternative destination is accepted when the input button or the like of the HMI 9 is operated by the passenger. That is, the intention confirmation unit 20 confirms the intention of getting off at a place other than a preset destination.

  The terminal position acquisition unit 21 acquires position information of a portable terminal carried by a passenger of the vehicle V. The terminal location acquisition unit 21 acquires location information of the mobile terminal using the second communication unit 6.

  The reward providing unit 22 provides a reward for getting off when the intention confirmation unit 20 determines that there is an intention to get off. In addition, when providing the reward for getting off, the reward providing unit 22 is based on the position information of the mobile terminal acquired by the terminal position acquiring unit 21 and the occupant who got off at a predetermined destination stays at a predetermined destination time. It is determined whether or not the stay has been made. The reward providing unit 22 may provide a reward when the occupant stays at a preset destination for a predetermined stay time or longer.

  Here, the reward for getting off the vehicle is a benefit for the occupant by receiving the reward. For example, the reward for getting off may be a point. This point may be exchangeable for goods or services, for example. The reward providing unit 22 may accumulate and store the number of points each time the points are provided. The points provided by the reward providing unit 22 may be stored and managed by a server or the like outside the vehicle V other than the reward providing unit 22. Various well-known methods can be employed for the point management method.

  Note that the automatic driving apparatus 100 may include an occupant detection unit that detects the presence or absence of an occupant in the vehicle V. The reward providing unit 22 may provide a reward when the occupant detection unit detects that an occupant in the vehicle V has got off when providing a reward for getting off the vehicle. The occupant detection unit detects the presence or absence of an occupant using a known technique, for example, using a captured image of a camera that captures the inside of the vehicle V, or using a detection result of a seating sensor provided on a seat on which the occupant is seated. Can be detected.

  The traveling control unit 23 executes the automatic driving control when an execution start operation of the automatic driving control is input by the occupant. The traveling control unit 23 may execute automatic driving control when a predetermined condition is satisfied. The travel control unit 23 includes an automatic operation including speed control and steering control of the vehicle V based on the position on the map of the vehicle V recognized by the vehicle position recognition unit 11 and the travel plan generated by the travel plan generation unit 14. Execute control. The travel plan here is a travel plan generated by the travel plan generation unit 14 for traveling to a preset destination or a travel plan for traveling to an alternative destination. The traveling control unit 23 performs automatic operation control by transmitting a control signal to the actuator 8. The driving state of the vehicle V becomes an automatic driving state when the traveling control unit 23 executes the automatic driving control.

  In addition, the traveling control unit 23 performs automatic driving when it is determined by the intention confirmation unit 20 that the occupant intends to get off during the automatic driving control based on the traveling plan for heading to a predetermined destination. The vehicle V is stopped before reaching the interruption section. The travel control unit 23 is predetermined when the intention confirmation unit 20 determines that the occupant has accepted the alternative destination during execution of the automatic driving control based on the travel plan for heading to the predetermined destination. Instead of the travel plan for traveling to the destination, the vehicle V is automatically traveled to the alternative destination based on the travel plan for traveling to the alternative destination. When arriving at the alternative destination, the traveling control unit 23 stops the vehicle V. When stopping the vehicle V, the traveling control unit 23 stops the vehicle V by moving the vehicle V to a place where the traveling of other vehicles is not hindered. Examples of the place that does not hinder the traveling of other vehicles include a road shoulder, a retreat space, and the like. The travel control unit 23 stops the vehicle V after moving the vehicle V to a place where the travel of other vehicles is not hindered based on a known technique. The traveling control unit 23 stops the automatic driving control after stopping the vehicle V.

  Next, the flow of a process for providing a reward for getting off (an automatic driving method executed by the automatic driving apparatus 100) will be described. Here, the case where no alternative destination is proposed by the alternative destination proposal unit 19 and the case where an alternative destination is proposed will be described separately.

(No alternative destination proposal)
First, processing for providing a reward when no alternative destination is proposed will be described with reference to the flowchart of FIG. The process of the flowchart shown in FIG. 2 is started together with the start of execution of automatic operation control. The process of the flowchart shown in FIG. 2 is repeatedly executed at predetermined intervals while the automatic operation control is being executed. More specifically, when the process reaches the end after the process of S106 in which it is determined that the automatic operation control is maintained, the process is started from the start after a predetermined time. However, if the process reaches the end after the process of stopping the vehicle (S104) is executed and the execution of the automatic driving control is finished, the process is started from the start when the execution of the automatic driving control is started again.

  As shown in FIG. 2, when the execution of the automatic driving control is started, the vehicle position determination unit 16 determines whether or not the position of the vehicle V is within the destination peripheral area (S101: route acquisition step, Vehicle position determination step). When the position of the vehicle V is not within the destination peripheral area (S101: NO), the automatic driving apparatus 100 determines that the automatic driving control by the traveling control unit 23 is maintained (S106). Thereby, the automatic driving control by the traveling control unit 23 is maintained.

  When the position of the vehicle V is within the destination peripheral area (S101: YES), the interruption section estimation unit 18 estimates the presence and position of the automatic driving interruption section on the target route from the position of the vehicle V to the destination. (S102: Traffic information acquisition step, interrupted section estimation step). When it is estimated that there is no automatic driving interruption section (S102: NO), the automatic driving apparatus 100 determines that the automatic driving control by the traveling control unit 23 is maintained (S106). Thereby, the automatic driving control by the traveling control unit 23 is maintained.

  When it is estimated that there is an automatic driving interruption section (S102: YES), the intention confirmation unit 20 confirms whether or not the passenger of the vehicle V intends to get off (S103: intention confirmation step). When the passenger does not intend to get off (S103: NO), the automatic driving apparatus 100 determines that the automatic driving control by the traveling control unit 23 is maintained (S106). Thereby, the automatic driving control by the traveling control unit 23 is maintained. In addition, although it is estimated that the automatic driving | operation interruption area exists on the target route to the destination, the traveling control part 23 continues automatic driving control. When the vehicle V reaches the automatic driving interruption section and the automatic driving control cannot be continued, the traveling control unit 23 ends the automatic driving control. As a result, the driving state of the vehicle V is switched from the automatic driving state to the manual driving state. The traveling control unit 23 continues the execution of the automatic driving control when the vehicle V reaches the automatic driving interruption section but can continue the automatic driving control.

  If the occupant has an intention to get off (S103: YES), the traveling control unit 23 stops the vehicle V before reaching the automatic driving interruption section and ends the automatic driving control (S104: traveling control step). When the vehicle V stops, the passenger can get off. After the vehicle V stops, the reward providing unit 22 provides a reward for getting off (S105: reward providing step).

  When providing a reward in S105, the terminal location acquisition unit 21 acquires location information of the occupant's mobile terminal (terminal location acquisition step). And as above-mentioned, the reward provision part 22 may provide a reward, when the passenger who got off stays for the predetermined stay time or more in the preset destination. This is effective for providing rewards appropriately. For example, it is conceivable that an occupant earns a reward by intentionally setting a destination far and getting off before arriving at a destination set far away. For this reason, the reward provision part 22 can provide a reward appropriately by providing a reward based on whether the crew member stayed at the preset destination.

  Further, as a precondition for starting the execution of the process of the flowchart of FIG. 2 described above, it is a condition that the automatic driving rate of the vehicle V (the ratio of traveling by the automatic driving control) on the traveling route so far is a predetermined value or more. It is good. For example, if the automatic driving rate increases because the vehicle V is traveling under automatic driving control because the passenger likes automatic driving, the passenger of the vehicle V may feel resistance to switching to manual driving. Conceivable. In such a case, for example, it is possible to reduce the feeling of resistance experienced by the occupant by confirming the intention to get off and providing a reward for getting off.

  In addition, for example, the automatic driving apparatus 100 may include an occupant state detection unit that detects the occupant state, and may confirm the intention to get off according to the occupant state. For example, when the intention confirmation unit 20 confirms the intention to get off, the intention to get off may be confirmed when the occupant state detection unit detects that the occupant is drowsy. For example, the occupant state detection unit may determine the presence or absence of sleepiness by detecting the blink of the occupant from a captured image captured by a camera. The occupant state detection unit may detect the occupant state based on the occupant's heart rate. The occupant state detection unit may detect various states other than sleepiness as the occupant state. Thereby, it is possible to prompt the user to get off according to the state of the occupant.

  After the occupant gets off, the automatic driving apparatus 100 may automatically drive the vehicle V to a predetermined location. For example, when the vehicle V on which the automatic driving device 100 is mounted is a vehicle (car sharing) that is shared by a plurality of people, the automatic driving device 100 moves the vehicle V to an unassigned center or the like. You may run automatically in the state.

  The automatic driving device 100 stops the vehicle V according to the position where the passenger gets off before reaching the automatic driving interruption section, that is, before the section where the traffic jam occurs. Thus, since the vehicle V does not travel in a section where traffic congestion occurs, for example, when the vehicle V performing automatic driving is a taxi or a vehicle shared by a plurality of people, these vehicles are used by many people. Can be used (rotational efficiency can be improved).

(There are alternative destination proposals)
Next, processing for providing a reward when an alternative destination is proposed will be described with reference to the flowchart of FIG. The process of the flowchart shown in FIG. 3 is started together with the start of execution of automatic operation control for heading to a preset destination. The process of the flowchart shown in FIG. 3 is repeatedly executed at predetermined time intervals while automatic driving control for moving to a preset destination is being executed. More specifically, when the process reaches the end after the process of S210 in which it is determined that the automatic operation control for traveling to a preset destination is maintained, the process is started from the start after a predetermined time. However, when the process reaches the end after the process of stopping the vehicle (S208) is executed and the execution of the automatic driving control is finished, the process is started from the start when the execution of the automatic driving control is started again.

  As shown in FIG. 3, when the execution of the automatic driving control is started, the vehicle position determination unit 16 determines whether or not the position of the vehicle V is within the destination peripheral area (S201). The destination peripheral area here is an area specified based on a preset destination. When the position of the vehicle V is not within the destination peripheral area (S201: NO), the automatic driving device 100 determines that the automatic driving control for traveling to the destination set in advance by the traveling control unit 23 is maintained (S210). . Thereby, the automatic driving control for heading to the preset destination by the traveling control unit 23 is maintained.

  When the position of the vehicle V is within the destination peripheral area (S201: YES), the interruption section estimation unit 18 determines whether there is an automatic driving interruption section on the target route from the position of the vehicle V to the preset destination, and The position is estimated (S202). When it is estimated that there is no automatic driving interruption section (S202: NO), the automatic driving apparatus 100 determines that the automatic driving control for traveling to the preset destination by the traveling control unit 23 is maintained (S210). Thereby, the automatic driving control for heading to the preset destination by the traveling control unit 23 is maintained.

  When it is estimated that there is an automatic driving interruption section (S202: YES), the alternative destination proposing unit 19 proposes an alternative destination different from the preset destination to the occupant (S203). The intention confirmation unit 20 confirms whether or not it has been accepted to change the destination from the predetermined destination to the alternative destination based on the operation of the input button or the like of the HMI 9 (S204).

  If it is not accepted by the occupant that the destination is the alternative destination (S204: NO), the automatic driving device 100 maintains the automatic driving control for traveling to the predetermined destination by the traveling control unit 23. Determine (S210). Thereby, the automatic driving control for heading to the preset destination by the traveling control unit 23 is maintained. In addition, although it is estimated that the automatic driving | operation interruption area exists on the target route to the preset destination, the traveling control part 23 continues the automatic driving control for heading to the preset destination. When the vehicle V reaches the automatic driving interruption section and the automatic driving control cannot be continued, the traveling control unit 23 ends the automatic driving control. As a result, the driving state of the vehicle V is switched from the automatic driving state to the manual driving state. The traveling control unit 23 continues the execution of the automatic driving control when the vehicle V reaches the automatic driving interruption section but can continue the automatic driving control.

  If the occupant accepts that the destination is the alternative destination (S204: YES), the travel plan generation unit 14 generates a travel plan for heading to the alternative destination (S205). The traveling control unit 23 performs automatic driving control of the vehicle V along the traveling plan for heading to the alternative destination (S206). The travel control unit 23 determines whether the vehicle V has arrived at the alternative destination based on the position of the vehicle V recognized by the vehicle position recognition unit 11 (S207). When the vehicle V has not arrived at the alternative destination (S207: NO), the travel control unit 23 continues the automatic driving control for heading to the alternative destination (S206).

  When the vehicle V arrives at the alternative destination (S207: YES), the traveling control unit 23 stops the vehicle V and ends the automatic driving control for heading to the alternative destination (S208). When the vehicle V stops, the passenger can get off. After the vehicle V stops, the reward providing unit 22 provides a reward for getting off (S209).

  As a specific example of the situation of proposing the alternative destination mentioned above, for example, when a crowded place such as a station is a preset destination, a place a little away from the station as an alternative destination in order to avoid congestion The situation to propose is mentioned. In this case, the automatic driving device 100 provides a reward when the occupant accepts going to an alternative destination slightly away from the station. For example, if the vehicle that performs automatic driving is a taxi or a vehicle that is shared by multiple people, many people use these vehicles by driving automatically to alternative destinations that avoid crowded locations. Yes (rotational efficiency can be improved).

  After the occupant gets off, the automatic driving apparatus 100 may automatically drive the vehicle V to a predetermined place in the same manner as described above.

  The present embodiment is configured as described above, and the automatic driving apparatus 100 is configured such that the position of the vehicle V is within the area around the destination, and automatic driving is performed between the current position of the vehicle V and a preset destination. If there is an interrupted section, the vehicle occupant is confirmed whether or not he / she intends to get off. When the occupant intends to get off the vehicle, the automatic driving device 100 stops the vehicle V before reaching the automatic driving interruption section. Thereby, when the automatic driving interruption section exists and the occupant intends to get off, the driving state of the vehicle V is not switched from the automatic driving state to the manual driving state. Therefore, the automatic driving device 100 can reduce that the passenger feels troublesome when the driving state of the vehicle V is switched from the automatic driving state to the manual driving state. Moreover, the automatic driving device 100 provides a reward for getting off when the occupant has an intention to get off. Thereby, the automatic driving device 100 can provide motivation for the passenger to get off by providing a reward. Further, since the occupant moves on foot after getting off the vehicle V, the health of the occupant can be promoted.

  The destination peripheral area is an area where the arrival time to the destination is within a predetermined arrival time when the vehicle V is driven by automatic driving control. For example, even if the straight line distance to the destination is short, it may take a long time to reach the destination. Even in such a case, since the destination peripheral area is set based on the arrival time to the destination, the automatic driving apparatus 100 can detect the vehicle V based on the appropriately set destination peripheral area. It is possible to determine whether or not the position is within the destination peripheral area.

  The automatic driving device 100 estimates the presence / absence of an automatic driving interruption section and the position of the automatic driving interruption section based on traffic information on the route to the destination. In this case, the automatic driving apparatus 100 can appropriately estimate the presence / absence and position of the automatic driving interruption section based on the acquired traffic information.

  The intention confirmation unit 20 confirms whether or not there is an intention to get off based on the operation of the input button of the HMI 9 by the passenger. In this case, the occupant of the vehicle V can input the intention to get off to the automatic driving device 100 through the HMI 9.

  When providing the reward for getting off, the automatic driving device 100 determines whether or not the occupant who got off has stayed at the destination for a predetermined stay time or more based on the position information of the portable terminal of the occupant. Provide rewards when staying longer than the stay time. In this case, the automatic driving device 100 can appropriately provide a reward based on whether or not the passenger who got off stayed at the destination.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to the said embodiment. For example, the interruption section estimation unit 18 may estimate the position of the automatic driving interruption section based on information other than traffic information. For example, the interruption section estimation unit 18 may estimate the automatic driving interruption section based on weather information, the presence / absence of construction, operation information of other autonomous driving vehicles, and the like. Although the automatic driving device 100 includes the first communication unit 5 and the second communication unit 6, it does not have to include two communication units. The first communication unit 5 may also function as the second communication unit 6.

  DESCRIPTION OF SYMBOLS 15 ... Route acquisition part, 16 ... Vehicle position determination part, 17 ... Traffic information acquisition part, 18 ... Interruption area estimation part, 20 ... Intention confirmation part, 21 ... Terminal position acquisition part, 22 ... Reward provision part, 23 ... Travel control , 9 ... HMI (operation unit), 100 ... automatic driving device, V ... vehicle.

Claims (10)

An automatic driving device that performs automatic driving control for automatically driving a vehicle,
A route acquisition unit for acquiring a route when the vehicle is driven by the automatic driving control to a preset destination;
A vehicle position determination unit that determines whether the position of the vehicle is within a destination peripheral area including the destination; and
Presence / absence of an automatic driving interruption section in which execution of the automatic driving control may be interrupted on the route from the position of the vehicle to the destination when the position of the vehicle is within the area around the destination And an interruption section estimation unit for estimating the position of the automatic driving interruption section,
When it is determined that the position of the vehicle is within the area around the destination, and it is estimated that the automatic driving interruption section exists between the current position of the vehicle and the destination, the vehicle An intention confirmation unit that confirms whether the passenger is willing to get off,
A reward providing unit that provides a reward for getting off when it is confirmed that there is an intention to get off;
A driving control unit that executes the automatic driving control and stops the vehicle before reaching the automatic driving interruption section when it is confirmed that the intention to get off is confirmed during the execution of the automatic driving control;
An automatic driving device comprising:   The automatic driving device according to claim 1, wherein the destination peripheral area is an area where an arrival time to the destination is within a predetermined arrival time when the vehicle is driven by the automatic driving control. A traffic information acquisition unit that acquires traffic information on the route to the destination acquired by the route acquisition unit;
The automatic driving device according to claim 1, wherein the interruption section estimation unit estimates the presence / absence of the automatic driving interruption section and the position of the automatic driving interruption section based on the acquired traffic information. It further comprises an operation unit operated by the occupant,
The said intention confirmation part performs the alerting | reporting for confirming the said getting-off intention, and confirms the presence or absence of the said getting-off intention based on operation of the said operation part by the said passenger | crew. Automatic driving device. A terminal position acquisition unit for acquiring position information of a portable terminal carried by the occupant;
When providing the reward for getting off, the reward providing unit determines whether or not the occupant who got off stayed at the destination for a predetermined stay time or more based on the acquired position information of the mobile terminal. The automatic driving device according to any one of claims 1 to 4, wherein the automatic driving device determines and provides the reward when staying at the destination for a predetermined staying time or longer. An automatic driving method executed by an automatic driving device that executes automatic driving control for automatically driving a vehicle,
A route acquisition step of acquiring a route when the vehicle is driven by the automatic operation control to a preset destination;
A vehicle position determination step for determining whether the position of the vehicle is within a destination peripheral area including the destination; and
Presence / absence of an automatic driving interruption section in which execution of the automatic driving control may be interrupted on the route from the position of the vehicle to the destination when the position of the vehicle is within the area around the destination And an interruption interval estimation step for estimating the position of the automatic operation interruption interval;
When it is determined that the position of the vehicle is within the area around the destination, and it is estimated that the automatic driving interruption section exists between the current position of the vehicle and the destination, the vehicle An intention confirmation step for confirming whether the passenger is willing to get off the vehicle,
A reward providing step of providing a reward for getting off when it is confirmed that there is an intention to get off;
A travel control step of stopping the vehicle before reaching the automatic driving interruption section when it is confirmed that there is an intention to get off during execution of the automatic driving control;
Including automatic driving methods.   7. The automatic driving method according to claim 6, wherein the destination peripheral area is an area in which an arrival time to the destination is within a predetermined arrival time when the vehicle is driven by the automatic driving control. A traffic information acquisition step of acquiring traffic information on the route to the destination acquired in the route acquisition step;
The automatic driving method according to claim 6 or 7, wherein, in the interruption section estimation step, the presence or absence of the automatic driving interruption section and the position of the automatic driving interruption section are estimated based on the acquired traffic information. The automatic driving device includes an operation unit operated by the occupant,
9. The intent confirmation step performs notification for confirming the intention to get off and confirms whether or not there is an intention to get off based on an operation of the operation unit by the occupant. Automatic driving method. A terminal position obtaining step of obtaining position information of a portable terminal carried by the occupant;
In the reward providing step, when providing the reward for getting off the vehicle, whether or not the occupant who got off has stayed at the destination for a predetermined stay time or more based on the acquired location information of the mobile terminal. The automatic driving method according to any one of claims 6 to 9, wherein a determination is made and the reward is provided when staying at the destination for a predetermined stay time or longer.

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